Model catalog
Ten inherited/recovered Unitree USD entry points and 79 generated variants. Paths link to the primary stage; keep adjacent textures or configuration layers with it.
Original and recovered USD packages
| Entry point | Origin |
|---|---|
| B2/usd/b2.usd | Original Hugging Face collection |
| G1/23dof/usd/g1_23dof_rev_1_0/g1_23dof_rev_1_0.usd | Original Hugging Face collection |
| G1/29dof/usd/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd | Original Hugging Face collection |
| Go2/usd/go2.usd | Original Hugging Face collection |
| Go2W/usd/go2w.usd | Original Hugging Face collection |
| H1/h1/usd/h1.usd | Original Hugging Face collection |
| H1-2/h1_2/h1_2.usd | Original Hugging Face collection |
| H1-2/h1_2_handless/h1_2_handless.usd | Original Hugging Face collection |
| H2/H2_dae.usd | Original Hugging Face collection |
| H2_Plus/H2_with_sharpa.usd | Unitree GitHub H2 Plus package |
Generated variants
Source link/joint counts can include fixed or structural joints. Active-joint counts below include source revolute, continuous and prismatic joints, including mimic joints; they are not a product DOF specification.
| Model / variant | USD entry point | Source | Active joints | Base |
|---|---|---|---|---|
| a1_description/a1 | USD | source | 12 | mobile |
| a2_description/a2 | USD | source | 12 | mobile |
| aliengo_description/aliengo | USD | source | 12 | mobile |
| as2_description/as2 | USD | source | 12 | mobile |
| as2w_description/as2w | USD | source | 16 | mobile |
| b1_description/b1 | USD | source | 12 | mobile |
| b2_description/b2_description | USD | source | 12 | mobile |
| b2_description_mujoco/b2_description | USD | source | 12 | mobile |
| b2w_description/b2w_description | USD | source | 16 | mobile |
| dexterous_hand_description/dex1_1 | USD | source | 2 | fixed |
| dexterous_hand_description/Left_Hand | USD | source | 10 | fixed |
| dexterous_hand_description/Left_Hand_G1_5010_Wrist | USD | source | 10 | fixed |
| dexterous_hand_description/Right_Hand | USD | source | 10 | fixed |
| dexterous_hand_description/Right_Hand_G1_5010_Wrist | USD | source | 10 | fixed |
| dexterous_hand_description/dex3_1_l | USD | source | 7 | fixed |
| dexterous_hand_description/dex3_1_r | USD | source | 7 | fixed |
| dexterous_hand_description/Dex5-URDF-L | USD | source | 20 | fixed |
| dexterous_hand_description/Dex5-URDF-R | USD | source | 20 | fixed |
| g1_d_description/g1_d | USD | source | 34 | mobile |
| g1_d_description/g1_d_with_dex1_1 | USD | source | 32 | mobile |
| g1_description/g1_23dof | USD | source | 23 | mobile |
| g1_description/g1_23dof_mode_10 | USD | source | 23 | mobile |
| g1_description/g1_23dof_rev_1_0 | USD | source | 23 | mobile |
| g1_description/g1_29dof | USD | source | 29 | mobile |
| g1_description/g1_29dof_lock_waist | USD | source | 27 | mobile |
| g1_description/g1_29dof_lock_waist_rev_1_0 | USD | source | 27 | mobile |
| g1_description/g1_29dof_lock_waist_with_hand_rev_1_0 | USD | source | 41 | mobile |
| g1_description/g1_29dof_mode_11 | USD | source | 29 | mobile |
| g1_description/g1_29dof_mode_12 | USD | source | 27 | mobile |
| g1_description/g1_29dof_mode_13 | USD | source | 29 | mobile |
| g1_description/g1_29dof_mode_14 | USD | source | 27 | mobile |
| g1_description/g1_29dof_mode_15 | USD | source | 29 | mobile |
| g1_description/g1_29dof_mode_15_with_dex1_1 | USD | source | 33 | mobile |
| g1_description/g1_29dof_mode_16 | USD | source | 27 | mobile |
| g1_description/g1_29dof_mode_18 | USD | source | 29 | mobile |
| g1_description/g1_29dof_rev_1_0 | USD | source | 29 | mobile |
| g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ | USD | source | 53 | mobile |
| g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP | USD | source | 53 | mobile |
| g1_description/g1_29dof_with_hand | USD | source | 43 | mobile |
| g1_description/g1_29dof_with_hand_rev_1_0 | USD | source | 43 | mobile |
| g1_description/g1_comp | USD | source | 25 | mobile |
| g1_description/g1_dual_arm | USD | source | 14 | fixed |
| g1_description/g1_pl | USD | source | 31 | mobile |
| g1_description/DFQ_left_hand | USD | source | 12 | fixed |
| g1_description/DFQ_right_hand | USD | source | 12 | fixed |
| g1_description/FTP_left_hand | USD | source | 12 | fixed |
| g1_description/FTP_right_hand | USD | source | 12 | fixed |
| g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand | USD | source | 61 | mobile |
| go1_description/go1 | USD | source | 12 | mobile |
| go2_description/go2_description | USD | source | 12 | mobile |
| go2w_description/go2w_description | USD | source | 16 | mobile |
| h1_2_description/h1_2 | USD | source | 51 | mobile |
| h1_2_description/h1_2_handless | USD | source | 27 | mobile |
| h1_2_description/h1_2_with_FTP_hand | USD | source | 51 | mobile |
| h1_description/h1 | USD | source | 19 | mobile |
| h1_description/h1_with_hand | USD | source | 45 | mobile |
| h2_description/H2 | USD | source | 31 | mobile |
| h2_description/H2_dae | USD | source | 31 | mobile |
| h2_description/H2_loop | USD | source | 37 | mobile |
| h2_plus/H2_Plus | USD | source | 75 | mobile |
| h2d_description/h2d | USD | source | 24 | mobile |
| h2x_description/h2x | USD | source | 31 | mobile |
| laikago_description/laikago | USD | source | 12 | mobile |
| r1_7a_description/R1_7a | USD | source | 7 | fixed |
| r1_a5_description/r1_a5 | USD | source | 13 | fixed |
| r1_a7_description/r1_a7 | USD | source | 17 | fixed |
| r1_air_description/R1_AIR | USD | source | 20 | mobile |
| r1_description/R1 | USD | source | 26 | mobile |
| r1d_description/r1d | USD | source | 29 | mobile |
| z1_description/z1 | USD | source | 6 | fixed |
| aliengoZ1_description/aliengo_z1 | USD | source | 19 | mobile |
| Qmini/Qmini | USD | source | 10 | mobile |
| UniArmL1/UniArmL1 | USD | source | 7 | fixed |
| z1_ros/z1 | USD | source | 6 | fixed |
| brainco_hand/brainco_left | USD | source | 11 | fixed |
| brainco_hand/brainco_right | USD | source | 11 | fixed |
| unitree_rl_gym/g1_12dof | USD | source | 12 | mobile |
| unitree_rl_gym/h1_2_12dof | USD | source | 12 | mobile |
| unitree_rl_gym/h1_2_simplified | USD | source | 21 | mobile |
Every generated entry passed structural checks plus the independent mass, joint-count and forward-kinematics checks in validation_report.json. Runtime simulation remains untested; see README.md for limitations and source warnings.